blaze.dynamics.Body
- class
Body
;
- A rigid body
- bXForm
xf
;
- The body's origin transform
- bVec2
linearVelocity
;
- The body's linear velocity
- float
angularVelocity
;
- the body's angular velocity
- bVec2
force
;
- The
force
exerted on this body
- float
torque
;
- The
torque
exerted on this body
- bool
isStatic
;
- Is this body static (immovable)?
- Body
prev
;
- Next body in the world linked body list
- Body
next
;
- Previous body in the world linked body list
- float
linearDamping
;
- Linear damping is use to reduce the linear velocity. The damping parameter
can be larger than 1.0f but the damping effect becomes sensitive to the
time step when the damping parameter is large.
An example of the use of this is drag from friction with the air.
- float
angularDamping
;
- Angular damping is use to reduce the angular velocity. The damping parameter
can be larger than 1.0f but the damping effect becomes sensitive to the
time step when the damping parameter is large.
- Object
userData
;
- A reference to whatever data you want attached to the body. This may be
redundant because of the
userData
member of
blaze.collision.shapes.shape.Shape
- Shape
createShape
(ShapeDef def);
- Creates a shape and attach it to this body.
Params:
| shapeDef |
the shape definition. |
Warning:
This function is locked during callbacks.
- void
destroyShape
(Shape s);
- Destroy a shape. This removes the shape from the broad-phase and
therefore destroys any contacts associated with this shape. All shapes
attached to a body are implicitly destroyed when the body is destroyed.
Params:
| shape |
the shape to be removed. |
Warning:
This function is locked during callbacks.
- void
setMass
(MassData massData);
- Set the mass properties. Note that this changes the center of mass
position. If you are not sure how to compute mass properties, use
SetMassFromShapes. The inertia tensor is assumed to be relative to the
center of mass.
Params:
| MassData massData |
the mass properties. |
- void
setMassFromShapes
();
- Compute the mass properties from the attached shapes. You typically call
this after adding all the shapes. If you add or remove shapes later, you
may want to call this again. Note that this changes the center of mass
position.
- bool
xForm
(bVec2 position, float angle);
- Set the position of the body's origin and rotation (radians).
This breaks any contacts and wakes the other bodies.
Params:
| bVec2 position |
the new world position of the body's origin (not
necessarily the center of mass). |
| float angle |
the new world rotation angle of the body in radians. |
Returns:
false if the movement put a shape outside the world. In this
case the body is automatically frozen.
BUGS:
See Shape.synchronize
- bVec2
position
();
- Returns:
the world
position
of the body's origin.
- float
angle
();
- Returns:
the current world rotation
angle
in radians.
- void
angle
(float a);
- Set the body's
angle
Params:
| float a |
the new
angle
(in radians) |
- bVec2
worldCenter
();
- Returns:
the world position of the center of mass.
- bVec2
localCenter
();
- Returns:
the local position of the center of mass.
- void
applyForce
(bVec2 force, bVec2 point);
- Apply a force at a world point. If the force is not
applied at the center of mass, it will generate a torque and
affect the angular velocity. This wakes up the body.
Params:
| bVec2 force |
the world force vector, usually in Newtons (N). |
| bVec2 point |
the world position of the point of application. |
- void
applyBuoyancyForce
(FluidParticle particle);
- Applies a bouyancy force caused by fluid particles. This wakes up the
body.
Params:
| FluidParticle particle |
the fluid particle that will apply the force |
- void
applyTorque
(float torque);
- Apply a torque. This affects the angular velocity
without affecting the linear velocity of the center of mass.
This wakes up the body.
Params:
| float torque |
torque about the z-axis (out of the screen), usually
measured in Newton-meters |
- void
applyImpulse
(bVec2 impulse, bVec2 point);
- Apply an impulse at a point. This immediately modifies the velocity.
It also modifies the angular velocity if the point of application
is not at the center of mass. This wakes up the body.
Params:
| bVec2 impulse |
the world impulse vector, usually in Newton-seconds or
kg-m/s. |
| bVec2 point |
the world position of the point of application. |
- float
mass
();
- Returns:
the total
mass
of the body, usually in kilograms.
- float
invMass
();
- Returns:
1 divided by the total mass of the body. Units are 1/kg
- float
inertia
();
- Get the central rotational
inertia
of the body.
Returns:
the rotational
inertia
, usually in kg-m^2.
- float
invI
();
- Returns:
the inverse rotational inertia of the body.
- bVec2
worldPoint
(bVec2 localPoint);
- Get the world coordinates of a point given the local coordinates.
Params:
| bVec2 localPoint |
a point on the body measured relative the the body's
origin. |
Returns:
the same point expressed in world coordinates.
- bVec2
worldVector
(bVec2 localVector);
- Get the world coordinates of a vector given the local coordinates.
Params:
| bVec2 localVector |
a vector fixed in the body. |
Params:
- bVec2
localPoint
(bVec2 worldPoint);
- Gets a local point relative to the body's origin given a world point.
Params:
| bVec2 worldPoint |
a point in world coordinates. |
Returns:
the corresponding local point relative to the body's origin.
- bVec2
localVector
(bVec2 worldVector);
- Gets a local vector given a world vector.
Params:
Returns:
the corresponding local vector.
- bVec2
linearVelocityFromWorldPoint
(bVec2 worldPoint);
- Get the world linear velocity of a world point attached to this body.
Params:
| bVec2 worldPoint |
a point in world coordinates. |
Returns:
the world velocity of a point.
- bVec2
linearVelocityFromLocalPoint
(bVec2 localPoint);
- Get the world velocity of a local point.
Params:
| bVec2 localPoint |
a point in local coordinates. |
Returns:
the world velocity of a point.
- int
bullet
();
- Returns:
true if this body treated like a
bullet
for continuous collision
detection, false otherwise.
- void
bullet
(bool flag);
- Sets whether or not this body be treated like a
bullet
for continuous
collision detection. This will cause the collision detection to be more
accurate, but less efficient. Use this only on bodies that will have
high speeds.
Params:
| bool flag |
true if the body should be treated as a
bullet
, false
otherwise. |
- int
isFrozen
();
- Returns:
true if the body is frozen, false otherwise.
- int
isSleeping
();
- Returns:
true if the body is sleeping, false otherwise.
- void
allowSleeping
(bool flag);
- Sets wheter or not sleeping is allowed for this body.
Params:
| bool flag |
true if the body can go to sleep when it stops moving,
false if it cannot. |
- void
wakeup
();
- Wake up this body so it will begin simulating.
- void
putToSleep
();
- Put this body to sleep so it will stop simulating.
Note:
This also sets the velocity to zero.
- Shape
shapeList
();
- Get the firsh shape attached to this body. Access to the other shapes
is accomplished through Shape.next
Returns:
the first shape attached to this body.
- int
shapeCount
();
- Returns:
the number of shapes attached to this body
- World
world
();
- Returns:
the parent
world
of this body.
- bSweep
sweep
;
- The swept motion for CCD
- static const int
FROZEN
;
- flags
- ushort
flags
;
- The body's status
flags
- this(BodyDef bd, World world);
- Constructor
Params:
| BodyDef bd |
the body definition to base this body off of |
| World world |
the world that this body will be a part of |
Warning:
This function assert()'s that the world is not locked
- bool
synchronizeShapes
();
- Synchronizes all the shapes in the body.
BUGS:
Always returns true
- void
synchronizeTransform
();
- Update rotation and position of the body
- bool
isConnected
(Body other);
- This is used to prevent connected bodies from colliding.
It may lie, depending on the collideConnected flag.
- void
advance
(float t);
- Advance to the new safe time.
- int
islandIndex
();
- Returns:
the island index of the body
- void
islandIndex
(int i);
- Sets the body's island index
Params:
| int i |
the new island index |
- float
sleepTime
();
- Returns:
the body's sleep time
- void
sleepTime
(float time);
- Sets the body's sleep time
Params:
| float time |
the sleep time |
- JointEdge
jointList
;
- The list of joints connected to the body
- ContactEdge
contactList
;
- The list of contacts associated with the body
|
|
on Tue Feb 10 19:13:10 2009